(ros)bagging topics and later using it to construct the 3d map

[rakshak]

I would like to use rosbag to record the required compressed topics and then later use them to create the 3d map.

I am using this command to record the compressed data:

rosbag record -O subset /camera/aligned_depth_to_color/image_raw/compressed /camera/color/image_raw/compressed /camera/color/camera_info /rtabmap/odom /rtabmap/odom_info

And then, when I play the recorded bag, I use the following the get the uncompressed data

rosrun image_transport republish compressed in:=/camera/color/image_raw/compressed raw out:=/camera/color/image_raw

rosrun image_transport republish compressed in:=/camera/aligned_depth_to_color/image_raw/compressed raw out:=/camera/aligned_depth_to_color/image_raw  

And then I use this launch file the try to create the map:
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

But when I run the rtabmap.launch file, I get a message saying there is nothing published on the subscribed topic for 5 sec.

My question: How would I go about collecting compressed data and using it to create a 3D map using rtabmap

[matlabbe]

Hi,

you may verify that your images are correctly republished:

$ rostopic hz /camera/color/image_raw /camera/aligned_depth_to_color/image_raw /camera/color/camera_info

If they are published, you should not have the "nothing published" warnings. You may have other warnings though afterwards. For example, record depth image with compressedDepth plugin (/camera/aligned_depth_to_color/image_raw/compressedDepth). You may need to record tf too. Also, rtabmap.launch can uncompressed topics for you when setting "compressed:=true".

Based on this tutorial, to record and replay compressed realsense data, I would do:

$ roslaunch realsense2_camera rs_camera.launch align_depth:=true
$ rosbag record -O subset \
   /camera/aligned_depth_to_color/image_raw/compressedDepth \
   /camera/color/image_raw/compressed \
   /camera/color/camera_info \
   tf

(close all after recording)

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" \
   depth_topic:=/camera/aligned_depth_to_color/image_raw \
   rgb_topic:=/camera/color/image_raw \
   camera_info_topic:=/camera/color/camera_info \
   compressed:=true \
   use_sim_time:=true
$ rosbag play --clock subset.bag

 
 

[rakshak]

Hey, thanks for your reply and my apologies for the delayed response.

Following the tutorial fixed my issues.

Thanks for your help.